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-rw-r--r--src/drivers/drv_pwm_output.h5
-rw-r--r--src/drivers/md25/BlockSysIdent.cpp8
-rw-r--r--src/drivers/md25/BlockSysIdent.hpp10
-rw-r--r--src/drivers/md25/md25.cpp87
-rw-r--r--src/drivers/md25/md25.hpp18
-rw-r--r--src/drivers/md25/md25_main.cpp49
-rw-r--r--src/drivers/px4io/px4io.cpp181
-rw-r--r--src/drivers/stm32/drv_hrt.c20
-rw-r--r--src/drivers/stm32/tone_alarm/tone_alarm.cpp4
9 files changed, 291 insertions, 91 deletions
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 52a667403..ec9d4ca09 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -118,11 +118,8 @@ ORB_DECLARE(output_pwm);
/** start DSM bind */
#define DSM_BIND_START _IOC(_PWM_SERVO_BASE, 7)
-/** stop DSM bind */
-#define DSM_BIND_STOP _IOC(_PWM_SERVO_BASE, 8)
-
/** Power up DSM receiver */
-#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 9)
+#define DSM_BIND_POWER_UP _IOC(_PWM_SERVO_BASE, 8)
/** set a single servo to a specific value */
#define PWM_SERVO_SET(_servo) _IOC(_PWM_SERVO_BASE, 0x20 + _servo)
diff --git a/src/drivers/md25/BlockSysIdent.cpp b/src/drivers/md25/BlockSysIdent.cpp
new file mode 100644
index 000000000..23b0724d8
--- /dev/null
+++ b/src/drivers/md25/BlockSysIdent.cpp
@@ -0,0 +1,8 @@
+#include "BlockSysIdent.hpp"
+
+BlockSysIdent::BlockSysIdent() :
+ Block(NULL, "SYSID"),
+ _freq(this, "FREQ"),
+ _ampl(this, "AMPL")
+{
+}
diff --git a/src/drivers/md25/BlockSysIdent.hpp b/src/drivers/md25/BlockSysIdent.hpp
new file mode 100644
index 000000000..270635f40
--- /dev/null
+++ b/src/drivers/md25/BlockSysIdent.hpp
@@ -0,0 +1,10 @@
+#include <controllib/block/Block.hpp>
+#include <controllib/block/BlockParam.hpp>
+
+class BlockSysIdent : public control::Block {
+public:
+ BlockSysIdent();
+private:
+ control::BlockParam<float> _freq;
+ control::BlockParam<float> _ampl;
+};
diff --git a/src/drivers/md25/md25.cpp b/src/drivers/md25/md25.cpp
index 71932ad65..d43e3aef9 100644
--- a/src/drivers/md25/md25.cpp
+++ b/src/drivers/md25/md25.cpp
@@ -45,9 +45,16 @@
#include "md25.hpp"
#include <poll.h>
#include <stdio.h>
+#include <math.h>
+#include <string.h>
#include <systemlib/err.h>
#include <arch/board/board.h>
+#include <mavlink/mavlink_log.h>
+
+#include <controllib/uorb/UOrbPublication.hpp>
+#include <uORB/topics/debug_key_value.h>
+#include <drivers/drv_hrt.h>
// registers
enum {
@@ -72,6 +79,9 @@ enum {
REG_COMMAND_RW,
};
+// File descriptors
+static int mavlink_fd;
+
MD25::MD25(const char *deviceName, int bus,
uint16_t address, uint32_t speed) :
I2C("MD25", deviceName, bus, address, speed),
@@ -106,7 +116,8 @@ MD25::MD25(const char *deviceName, int bus,
setMotor2Speed(0);
resetEncoders();
_setMode(MD25::MODE_UNSIGNED_SPEED);
- setSpeedRegulation(true);
+ setSpeedRegulation(false);
+ setMotorAccel(10);
setTimeout(true);
}
@@ -298,6 +309,12 @@ int MD25::setDeviceAddress(uint8_t address)
return OK;
}
+int MD25::setMotorAccel(uint8_t accel)
+{
+ return _writeUint8(REG_ACCEL_RATE_RW,
+ accel);
+}
+
int MD25::setMotor1Speed(float value)
{
return _writeUint8(REG_SPEED1_RW,
@@ -451,12 +468,12 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
MD25 md25("/dev/md25", bus, address);
// print status
- char buf[200];
+ char buf[400];
md25.status(buf, sizeof(buf));
printf("%s\n", buf);
// setup for test
- md25.setSpeedRegulation(true);
+ md25.setSpeedRegulation(false);
md25.setTimeout(true);
float dt = 0.1;
float speed = 0.2;
@@ -550,4 +567,68 @@ int md25Test(const char *deviceName, uint8_t bus, uint8_t address)
return 0;
}
+int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitude, float frequency)
+{
+ printf("md25 sine: starting\n");
+
+ // setup
+ MD25 md25("/dev/md25", bus, address);
+
+ // print status
+ char buf[400];
+ md25.status(buf, sizeof(buf));
+ printf("%s\n", buf);
+
+ // setup for test
+ md25.setSpeedRegulation(false);
+ md25.setTimeout(true);
+ float dt = 0.01;
+ float t_final = 60.0;
+ float prev_revolution = md25.getRevolutions1();
+
+ // debug publication
+ control::UOrbPublication<debug_key_value_s> debug_msg(NULL,
+ ORB_ID(debug_key_value));
+
+ // sine wave for motor 1
+ md25.resetEncoders();
+ while (true) {
+
+ // input
+ uint64_t timestamp = hrt_absolute_time();
+ float t = timestamp/1000000.0f;
+
+ float input_value = amplitude*sinf(2*M_PI*frequency*t);
+ md25.setMotor1Speed(input_value);
+
+ // output
+ md25.readData();
+ float current_revolution = md25.getRevolutions1();
+
+ // send input message
+ //strncpy(debug_msg.key, "md25 in ", 10);
+ //debug_msg.timestamp_ms = 1000*timestamp;
+ //debug_msg.value = input_value;
+ //debug_msg.update();
+
+ // send output message
+ strncpy(debug_msg.key, "md25 out ", 10);
+ debug_msg.timestamp_ms = 1000*timestamp;
+ debug_msg.value = current_revolution;
+ debug_msg.update();
+
+ if (t > t_final) break;
+
+ // update for next step
+ prev_revolution = current_revolution;
+
+ // sleep
+ usleep(1000000 * dt);
+ }
+ md25.setMotor1Speed(0);
+
+ printf("md25 sine complete\n");
+ return 0;
+}
+
// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
diff --git a/src/drivers/md25/md25.hpp b/src/drivers/md25/md25.hpp
index e77511b16..1661f67f9 100644
--- a/src/drivers/md25/md25.hpp
+++ b/src/drivers/md25/md25.hpp
@@ -46,7 +46,7 @@
#include <poll.h>
#include <stdio.h>
-#include <controllib/block/UOrbSubscription.hpp>
+#include <controllib/uorb/UOrbSubscription.hpp>
#include <uORB/topics/actuator_controls.h>
#include <drivers/device/i2c.h>
@@ -213,6 +213,19 @@ public:
int setDeviceAddress(uint8_t address);
/**
+ * set motor acceleration
+ * @param accel
+ * controls motor speed change (1-10)
+ * accel rate | time for full fwd. to full rev.
+ * 1 | 6.375 s
+ * 2 | 1.6 s
+ * 3 | 0.675 s
+ * 5(default) | 1.275 s
+ * 10 | 0.65 s
+ */
+ int setMotorAccel(uint8_t accel);
+
+ /**
* set motor 1 speed
* @param normSpeed normalize speed between -1 and 1
* @return non-zero -> error
@@ -290,4 +303,7 @@ private:
// unit testing
int md25Test(const char *deviceName, uint8_t bus, uint8_t address);
+// sine testing
+int md25Sine(const char *deviceName, uint8_t bus, uint8_t address, float amplitude, float frequency);
+
// vi:noet:smarttab:autoindent:ts=4:sw=4:tw=78
diff --git a/src/drivers/md25/md25_main.cpp b/src/drivers/md25/md25_main.cpp
index e62c46b0d..7e5904d05 100644
--- a/src/drivers/md25/md25_main.cpp
+++ b/src/drivers/md25/md25_main.cpp
@@ -82,7 +82,7 @@ usage(const char *reason)
if (reason)
fprintf(stderr, "%s\n", reason);
- fprintf(stderr, "usage: md25 {start|stop|status|search|test|change_address}\n\n");
+ fprintf(stderr, "usage: md25 {start|stop|read|status|search|test|change_address}\n\n");
exit(1);
}
@@ -136,6 +136,28 @@ int md25_main(int argc, char *argv[])
exit(0);
}
+ if (!strcmp(argv[1], "sine")) {
+
+ if (argc < 6) {
+ printf("usage: md25 sine bus address amp freq\n");
+ exit(0);
+ }
+
+ const char *deviceName = "/dev/md25";
+
+ uint8_t bus = strtoul(argv[2], nullptr, 0);
+
+ uint8_t address = strtoul(argv[3], nullptr, 0);
+
+ float amplitude = atof(argv[4]);
+
+ float frequency = atof(argv[5]);
+
+ md25Sine(deviceName, bus, address, amplitude, frequency);
+
+ exit(0);
+ }
+
if (!strcmp(argv[1], "probe")) {
if (argc < 4) {
printf("usage: md25 probe bus address\n");
@@ -162,6 +184,29 @@ int md25_main(int argc, char *argv[])
exit(0);
}
+ if (!strcmp(argv[1], "read")) {
+ if (argc < 4) {
+ printf("usage: md25 read bus address\n");
+ exit(0);
+ }
+
+ const char *deviceName = "/dev/md25";
+
+ uint8_t bus = strtoul(argv[2], nullptr, 0);
+
+ uint8_t address = strtoul(argv[3], nullptr, 0);
+
+ MD25 md25(deviceName, bus, address);
+
+ // print status
+ char buf[400];
+ md25.status(buf, sizeof(buf));
+ printf("%s\n", buf);
+
+ exit(0);
+ }
+
+
if (!strcmp(argv[1], "search")) {
if (argc < 3) {
printf("usage: md25 search bus\n");
@@ -246,7 +291,7 @@ int md25_thread_main(int argc, char *argv[])
uint8_t address = strtoul(argv[4], nullptr, 0);
// start
- MD25 md25("/dev/md25", bus, address);
+ MD25 md25(deviceName, bus, address);
thread_running = true;
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index ae56b70b3..fed83ea1a 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -89,21 +89,61 @@
#define PX4IO_SET_DEBUG _IOC(0xff00, 0)
#define PX4IO_INAIR_RESTART_ENABLE _IOC(0xff00, 1)
+/**
+ * The PX4IO class.
+ *
+ * Encapsulates PX4FMU to PX4IO communications modeled as file operations.
+ */
class PX4IO : public device::I2C
{
public:
+ /**
+ * Constructor.
+ *
+ * Initialize all class variables.
+ */
PX4IO();
+ /**
+ * Destructor.
+ *
+ * Wait for worker thread to terminate.
+ */
virtual ~PX4IO();
+ /**
+ * Initialize the PX4IO class.
+ *
+ * Initialize the physical I2C interface to PX4IO. Retrieve relevant initial system parameters. Initialize PX4IO registers.
+ */
virtual int init();
+ /**
+ * IO Control handler.
+ *
+ * Handle all IOCTL calls to the PX4IO file descriptor.
+ *
+ * @param[in] filp file handle (not used). This function is always called directly through object reference
+ * @param[in] cmd the IOCTL command
+ * @param[in] the IOCTL command parameter (optional)
+ */
virtual int ioctl(file *filp, int cmd, unsigned long arg);
+
+ /**
+ * write handler.
+ *
+ * Handle writes to the PX4IO file descriptor.
+ *
+ * @param[in] filp file handle (not used). This function is always called directly through object reference
+ * @param[in] buffer pointer to the data buffer to be written
+ * @param[in] len size in bytes to be written
+ * @return number of bytes written
+ */
virtual ssize_t write(file *filp, const char *buffer, size_t len);
/**
* Set the update rate for actuator outputs from FMU to IO.
*
- * @param rate The rate in Hz actuator outpus are sent to IO.
+ * @param[in] rate The rate in Hz actuator output are sent to IO.
* Min 10 Hz, max 400 Hz
*/
int set_update_rate(int rate);
@@ -111,29 +151,41 @@ public:
/**
* Set the battery current scaling and bias
*
- * @param amp_per_volt
- * @param amp_bias
+ * @param[in] amp_per_volt
+ * @param[in] amp_bias
*/
void set_battery_current_scaling(float amp_per_volt, float amp_bias);
/**
* Push failsafe values to IO.
*
- * @param vals Failsafe control inputs: in us PPM (900 for zero, 1500 for centered, 2100 for full)
- * @param len Number of channels, could up to 8
+ * @param[in] vals Failsafe control inputs: in us PPM (900 for zero, 1500 for centered, 2100 for full)
+ * @param[in] len Number of channels, could up to 8
*/
int set_failsafe_values(const uint16_t *vals, unsigned len);
/**
- * Print the current status of IO
- */
+ * Print IO status.
+ *
+ * Print all relevant IO status information
+ */
void print_status();
+ /**
+ * Set the DSM VCC is controlled by relay one flag
+ *
+ * @param[in] enable true=DSM satellite VCC is controlled by relay1, false=DSM satellite VCC not controlled
+ */
inline void set_dsm_vcc_ctl(bool enable)
{
_dsm_vcc_ctl = enable;
};
+ /**
+ * Get the DSM VCC is controlled by relay one flag
+ *
+ * @return true=DSM satellite VCC is controlled by relay1, false=DSM satellite VCC not controlled
+ */
inline bool get_dsm_vcc_ctl()
{
return _dsm_vcc_ctl;
@@ -141,52 +193,48 @@ public:
private:
// XXX
- unsigned _max_actuators;
- unsigned _max_controls;
- unsigned _max_rc_input;
- unsigned _max_relays;
- unsigned _max_transfer;
+ unsigned _max_actuators; ///<Maximum # of actuators supported by PX4IO
+ unsigned _max_controls; ///<Maximum # of controls supported by PX4IO
+ unsigned _max_rc_input; ///<Maximum receiver channels supported by PX4IO
+ unsigned _max_relays; ///<Maximum relays supported by PX4IO
+ unsigned _max_transfer; ///<Maximum number of I2C transfers supported by PX4IO
- unsigned _update_interval; ///< subscription interval limiting send rate
+ unsigned _update_interval; ///<Subscription interval limiting send rate
- volatile int _task; ///< worker task
- volatile bool _task_should_exit;
+ volatile int _task; ///<worker task id
+ volatile bool _task_should_exit; ///<worker terminate flag
- int _mavlink_fd;
+ int _mavlink_fd; ///<mavlink file descriptor
- perf_counter_t _perf_update;
+ perf_counter_t _perf_update; ///<local performance counter
/* cached IO state */
- uint16_t _status;
- uint16_t _alarms;
+ uint16_t _status; ///<Various IO status flags
+ uint16_t _alarms; ///<Various IO alarms
/* subscribed topics */
- int _t_actuators; ///< actuator controls topic
- int _t_armed; ///< system armed control topic
- int _t_vstatus; ///< system / vehicle status
- int _t_param; ///< parameter update topic
+ int _t_actuators; ///<actuator controls topic
+ int _t_armed; ///<system armed control topic
+ int _t_vstatus; ///<system / vehicle status
+ int _t_param; ///<parameter update topic
/* advertised topics */
- orb_advert_t _to_input_rc; ///< rc inputs from io
- orb_advert_t _to_actuators_effective; ///< effective actuator controls topic
- orb_advert_t _to_outputs; ///< mixed servo outputs topic
- orb_advert_t _to_battery; ///< battery status / voltage
+ orb_advert_t _to_input_rc; ///<rc inputs from IO topic
+ orb_advert_t _to_actuators_effective; ///<effective actuator controls topic
+ orb_advert_t _to_outputs; ///<mixed servo outputs topic
+ orb_advert_t _to_battery; ///<battery status / voltage topic
- actuator_outputs_s _outputs; ///< mixed outputs
- actuator_controls_effective_s _controls_effective; ///< effective controls
+ actuator_outputs_s _outputs; ///<mixed outputs
+ actuator_controls_effective_s _controls_effective; ///<effective controls
- bool _primary_pwm_device; ///< true if we are the default PWM output
+ bool _primary_pwm_device; ///<true if we are the default PWM output
- float _battery_amp_per_volt;
- float _battery_amp_bias;
- float _battery_mamphour_total;
- uint64_t _battery_last_timestamp;
+ float _battery_amp_per_volt; ///<current sensor amps/volt
+ float _battery_amp_bias; ///<current sensor bias
+ float _battery_mamphour_total;///<amp hours consumed so far
+ uint64_t _battery_last_timestamp;///<last amp hour calculation timestamp
- /**
- * Relay1 is dedicated to controlling DSM receiver power
- */
-
- bool _dsm_vcc_ctl;
+ bool _dsm_vcc_ctl; ///<true if relay 1 controls DSM satellite RX power
/**
* Trampoline to the worker task
@@ -570,9 +618,11 @@ void
PX4IO::task_main()
{
hrt_abstime last_poll_time = 0;
+ int mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0);
log("starting");
+
/*
* Subscribe to the appropriate PWM output topic based on whether we are the
* primary PWM output or not.
@@ -672,6 +722,25 @@ PX4IO::task_main()
*/
if (fds[3].revents & POLLIN) {
parameter_update_s pupdate;
+ int32_t dsm_bind_val;
+ param_t dsm_bind_param;
+
+ // See if bind parameter has been set, and reset it to 0
+ param_get(dsm_bind_param = param_find("RC_DSM_BIND"), &dsm_bind_val);
+ if (dsm_bind_val) {
+ if (!(_status & PX4IO_P_STATUS_FLAGS_ARMED)) {
+ if ((dsm_bind_val == 1) || (dsm_bind_val == 2)) {
+ mavlink_log_info(mavlink_fd, "[IO] binding dsm%c rx", dsm_bind_val == 1 ? '2' : 'x');
+ ioctl(nullptr, DSM_BIND_START, dsm_bind_val == 1 ? 3 : 7);
+ } else {
+ mavlink_log_info(mavlink_fd, "[IO] invalid bind type, bind request rejected");
+ }
+ } else {
+ mavlink_log_info(mavlink_fd, "[IO] system armed, bind request rejected");
+ }
+ dsm_bind_val = 0;
+ param_set(dsm_bind_param, &dsm_bind_val);
+ }
/* copy to reset the notification */
orb_copy(ORB_ID(parameter_update), _t_param, &pupdate);
@@ -1445,16 +1514,11 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
usleep(500000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_set_rx_out);
- usleep(1000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_up);
- usleep(100000);
+ usleep(50000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_send_pulses | (arg << 4));
- break;
-
- case DSM_BIND_STOP:
- io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_power_down);
+ usleep(50000);
io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_DSM, dsm_bind_reinit_uart);
- usleep(500000);
break;
case DSM_BIND_POWER_UP:
@@ -1603,7 +1667,8 @@ PX4IO::ioctl(file * /*filep*/, int cmd, unsigned long arg)
}
ssize_t
-PX4IO::write(file *filp, const char *buffer, size_t len)
+PX4IO::write(file * /*filp*/, const char *buffer, size_t len)
+/* Make it obvious that file * isn't used here */
{
unsigned count = len / 2;
@@ -1696,30 +1761,12 @@ bind(int argc, char *argv[])
else
errx(1, "unknown parameter %s, use dsm2 or dsmx", argv[2]);
- /* Open console directly to grab CTRL-C signal */
- int console = open("/dev/console", O_NONBLOCK | O_RDONLY | O_NOCTTY);
- if (!console)
- errx(1, "failed opening console");
-
warnx("This command will only bind DSM if satellite VCC (red wire) is controlled by relay 1.");
- warnx("Press CTRL-C or 'c' when done.");
g_dev->ioctl(nullptr, DSM_BIND_START, pulses);
- for (;;) {
- usleep(500000L);
- /* Check if user wants to quit */
- char c;
- if (read(console, &c, 1) == 1) {
- if (c == 0x03 || c == 0x63) {
- warnx("Done\n");
- g_dev->ioctl(nullptr, DSM_BIND_STOP, 0);
- g_dev->ioctl(nullptr, DSM_BIND_POWER_UP, 0);
- close(console);
- exit(0);
- }
- }
- }
+ exit(0);
+
}
void
diff --git a/src/drivers/stm32/drv_hrt.c b/src/drivers/stm32/drv_hrt.c
index 7ef3db970..83a1a1abb 100644
--- a/src/drivers/stm32/drv_hrt.c
+++ b/src/drivers/stm32/drv_hrt.c
@@ -70,7 +70,7 @@
#include "stm32_gpio.h"
#include "stm32_tim.h"
-#ifdef CONFIG_HRT_TIMER
+#ifdef HRT_TIMER
/* HRT configuration */
#if HRT_TIMER == 1
@@ -155,7 +155,7 @@
# error must not set CONFIG_STM32_TIM11=y and HRT_TIMER=11
# endif
#else
-# error HRT_TIMER must be set in board.h if CONFIG_HRT_TIMER=y
+# error HRT_TIMER must be a value between 1 and 11
#endif
/*
@@ -275,7 +275,7 @@ static void hrt_call_invoke(void);
/*
* Specific registers and bits used by PPM sub-functions
*/
-#ifdef CONFIG_HRT_PPM
+#ifdef HRT_PPM_CHANNEL
/*
* If the timer hardware doesn't support GTIM_CCER_CCxNP, then we will work around it.
*
@@ -326,7 +326,7 @@ static void hrt_call_invoke(void);
# define CCER_PPM (GTIM_CCER_CC4E | GTIM_CCER_CC4P | GTIM_CCER_CC4NP) /* CC4, both edges */
# define CCER_PPM_FLIP GTIM_CCER_CC4P
# else
-# error HRT_PPM_CHANNEL must be a value between 1 and 4 if CONFIG_HRT_PPM is set
+# error HRT_PPM_CHANNEL must be a value between 1 and 4
# endif
/*
@@ -377,7 +377,7 @@ static void hrt_ppm_decode(uint32_t status);
# define CCMR1_PPM 0
# define CCMR2_PPM 0
# define CCER_PPM 0
-#endif /* CONFIG_HRT_PPM */
+#endif /* HRT_PPM_CHANNEL */
/*
* Initialise the timer we are going to use.
@@ -424,7 +424,7 @@ hrt_tim_init(void)
up_enable_irq(HRT_TIMER_VECTOR);
}
-#ifdef CONFIG_HRT_PPM
+#ifdef HRT_PPM_CHANNEL
/*
* Handle the PPM decoder state machine.
*/
@@ -526,7 +526,7 @@ error:
ppm_decoded_channels = 0;
}
-#endif /* CONFIG_HRT_PPM */
+#endif /* HRT_PPM_CHANNEL */
/*
* Handle the compare interupt by calling the callout dispatcher
@@ -546,7 +546,7 @@ hrt_tim_isr(int irq, void *context)
/* ack the interrupts we just read */
rSR = ~status;
-#ifdef CONFIG_HRT_PPM
+#ifdef HRT_PPM_CHANNEL
/* was this a PPM edge? */
if (status & (SR_INT_PPM | SR_OVF_PPM)) {
@@ -686,7 +686,7 @@ hrt_init(void)
sq_init(&callout_queue);
hrt_tim_init();
-#ifdef CONFIG_HRT_PPM
+#ifdef HRT_PPM_CHANNEL
/* configure the PPM input pin */
stm32_configgpio(GPIO_PPM_IN);
#endif
@@ -907,4 +907,4 @@ hrt_latency_update(void)
}
-#endif /* CONFIG_HRT_TIMER */
+#endif /* HRT_TIMER */
diff --git a/src/drivers/stm32/tone_alarm/tone_alarm.cpp b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
index 167ef30a8..2284be84d 100644
--- a/src/drivers/stm32/tone_alarm/tone_alarm.cpp
+++ b/src/drivers/stm32/tone_alarm/tone_alarm.cpp
@@ -117,10 +117,6 @@
#include <systemlib/err.h>
-#ifndef CONFIG_HRT_TIMER
-# error This driver requires CONFIG_HRT_TIMER
-#endif
-
/* Tone alarm configuration */
#if TONE_ALARM_TIMER == 2
# define TONE_ALARM_BASE STM32_TIM2_BASE
generated by cgit v1.2.3 (git 2.39.1) at 2024-09-12 20:27:17 +0000